09 twists and wrenches

13
7/23/2019 09 Twists and Wrenches http://slidepdf.com/reader/full/09-twists-and-wrenches 1/13 Twists and wrenches Equivalent static (equipollent) systems for a rigid body P  P  P m Q P Q Q  Q m  PQ r r m m ! " # $ #  PQ Q  P Q  P Q  P  , shown that  be can it ions considerat m equilibriu from  then  properties static same the have to and at  pairs moment - force For Twists and wrenches Equivalent velocity systems for a rigid body P  P ! Q P Q Q !  Q v ! r v v ! ! ! ! " # $ #  PQ Q  P Q  P Q  P  , shown that  be can it nt displaceme ating differenti from then  properties kinematic same the have to and at  pairs ocity linear vel - locity angular ve For  P v  PQ r

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Page 1: 09 Twists and Wrenches

7/23/2019 09 Twists and Wrenches

http://slidepdf.com/reader/full/09-twists-and-wrenches 1/13

Twists and wrenchesEquivalent static (equipollent) systems for a rigid body

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Page 2: 09 Twists and Wrenches

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Page 3: 09 Twists and Wrenches

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Page 4: 09 Twists and Wrenches

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Page 5: 09 Twists and Wrenches

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Page 6: 09 Twists and Wrenches

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Page 7: 09 Twists and Wrenches

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Page 8: 09 Twists and Wrenches

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Page 9: 09 Twists and Wrenches

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Page 10: 09 Twists and Wrenches

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Page 11: 09 Twists and Wrenches

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Page 12: 09 Twists and Wrenches

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Twists and wrenchesRRR serial robot – power and reverse static analysis

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Page 13: 09 Twists and Wrenches

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